/*
*********************************************************************************************************
*                                                uC/OS-II
*                                          The Real-Time Kernel
*
*                            (c) Copyright 1992-2002, Jean J. Labrosse, Weston, FL
*                                           All Rights Reserved
*
* File : uCOS_II.H
* By   : Jean J. Labrosse
*********************************************************************************************************
*/

/*
*********************************************************************************************************
*                                             MISCELLANEOUS
*********************************************************************************************************
*/

#define OS_VERSION 252 /* Version of uC/OS-II (Vx.yy mult. by 100)    */

#ifdef OS_GLOBALS
#define OS_EXT
#else
#define OS_EXT extern
#endif

#ifndef FALSE
#define FALSE 0
#endif

#ifndef TRUE
#define TRUE 1
#endif

#define OS_PRIO_SELF 0xFF /* Indicate SELF priority                      */

#if OS_TASK_STAT_EN > 0
#define OS_N_SYS_TASKS 2 /* Number of system tasks                      */
#else
#define OS_N_SYS_TASKS 1
#endif

#define OS_STAT_PRIO (OS_LOWEST_PRIO - 1) /* Statistic task priority                     */
#define OS_IDLE_PRIO (OS_LOWEST_PRIO)     /* IDLE      task priority                     */

#define OS_EVENT_TBL_SIZE ((OS_LOWEST_PRIO) / 8 + 1) /* Size of event table                         */
#define OS_RDY_TBL_SIZE ((OS_LOWEST_PRIO) / 8 + 1)   /* Size of ready table                         */

#define OS_TASK_IDLE_ID 65535 /* I.D. numbers for Idle and Stat tasks        */
#define OS_TASK_STAT_ID 65534

#define OS_EVENT_EN (((OS_Q_EN > 0) && (OS_MAX_QS > 0)) || (OS_MBOX_EN > 0) || (OS_SEM_EN > 0) || (OS_MUTEX_EN > 0))

/*$PAGE*/
/*
*********************************************************************************************************
*                              TASK STATUS (Bit definition for OSTCBStat)
*********************************************************************************************************
*/
#define OS_STAT_RDY 0x00     /* Ready to run                                            */
#define OS_STAT_SEM 0x01     /* Pending on semaphore                                    */
#define OS_STAT_MBOX 0x02    /* Pending on mailbox                                      */
#define OS_STAT_Q 0x04       /* Pending on queue                                        */
#define OS_STAT_SUSPEND 0x08 /* Task is suspended                                       */
#define OS_STAT_MUTEX 0x10   /* Pending on mutual exclusion semaphore                   */
#define OS_STAT_FLAG 0x20    /* Pending on event flag group                             */

/*
*********************************************************************************************************
*                                        OS_EVENT types
*********************************************************************************************************
*/
#define OS_EVENT_TYPE_UNUSED 0
#define OS_EVENT_TYPE_MBOX 1
#define OS_EVENT_TYPE_Q 2
#define OS_EVENT_TYPE_SEM 3
#define OS_EVENT_TYPE_MUTEX 4
#define OS_EVENT_TYPE_FLAG 5

/*
*********************************************************************************************************
*                                         EVENT FLAGS
*********************************************************************************************************
*/
#define OS_FLAG_WAIT_CLR_ALL 0 /* Wait for ALL    the bits specified to be CLR (i.e. 0)   */
#define OS_FLAG_WAIT_CLR_AND 0

#define OS_FLAG_WAIT_CLR_ANY 1 /* Wait for ANY of the bits specified to be CLR (i.e. 0)   */
#define OS_FLAG_WAIT_CLR_OR 1

#define OS_FLAG_WAIT_SET_ALL 2 /* Wait for ALL    the bits specified to be SET (i.e. 1)   */
#define OS_FLAG_WAIT_SET_AND 2

#define OS_FLAG_WAIT_SET_ANY 3 /* Wait for ANY of the bits specified to be SET (i.e. 1)   */
#define OS_FLAG_WAIT_SET_OR 3

#define OS_FLAG_CONSUME 0x80 /* Consume the flags if condition(s) satisfied             */

#define OS_FLAG_CLR 0
#define OS_FLAG_SET 1

/*
*********************************************************************************************************
*       Possible values for 'opt' argument of OSSemDel(), OSMboxDel(), OSQDel() and OSMutexDel()
*********************************************************************************************************
*/
#define OS_DEL_NO_PEND 0
#define OS_DEL_ALWAYS 1

/*
*********************************************************************************************************
*                                     OS???PostOpt() OPTIONS
*
* These #defines are used to establish the options for OSMboxPostOpt() and OSQPostOpt().
*********************************************************************************************************
*/
#define OS_POST_OPT_NONE 0x00      /* Post to highest priority task waiting                   */
#define OS_POST_OPT_BROADCAST 0x01 /* Broadcast message to ALL tasks waiting                  */
#define OS_POST_OPT_FRONT 0x02     /* Post to highest priority task waiting                   */

/*
*********************************************************************************************************
*                                 TASK OPTIONS (see OSTaskCreateExt()) 
*********************************************************************************************************
*/
#define OS_TASK_OPT_STK_CHK 0x0001 /* Enable stack checking for the task                      */
#define OS_TASK_OPT_STK_CLR 0x0002 /* Clear the stack when the task is create                 */
#define OS_TASK_OPT_SAVE_FP 0x0004 /* Save the contents of any floating-point registers       */

/*
*********************************************************************************************************
*                                             ERROR CODES
*********************************************************************************************************
*/
#define OS_NO_ERR 0

#define OS_ERR_EVENT_TYPE 1
#define OS_ERR_PEND_ISR 2
#define OS_ERR_POST_NULL_PTR 3
#define OS_ERR_PEVENT_NULL 4
#define OS_ERR_POST_ISR 5
#define OS_ERR_QUERY_ISR 6
#define OS_ERR_INVALID_OPT 7
#define OS_ERR_TASK_WAITING 8

#define OS_TIMEOUT 10
#define OS_TASK_NOT_EXIST 11

#define OS_MBOX_FULL 20

#define OS_Q_FULL 30

#define OS_PRIO_EXIST 40
#define OS_PRIO_ERR 41
#define OS_PRIO_INVALID 42

#define OS_SEM_OVF 50

#define OS_TASK_DEL_ERR 60
#define OS_TASK_DEL_IDLE 61
#define OS_TASK_DEL_REQ 62
#define OS_TASK_DEL_ISR 63

#define OS_NO_MORE_TCB 70

#define OS_TIME_NOT_DLY 80
#define OS_TIME_INVALID_MINUTES 81
#define OS_TIME_INVALID_SECONDS 82
#define OS_TIME_INVALID_MILLI 83
#define OS_TIME_ZERO_DLY 84

#define OS_TASK_SUSPEND_PRIO 90
#define OS_TASK_SUSPEND_IDLE 91

#define OS_TASK_RESUME_PRIO 100
#define OS_TASK_NOT_SUSPENDED 101

#define OS_MEM_INVALID_PART 110
#define OS_MEM_INVALID_BLKS 111
#define OS_MEM_INVALID_SIZE 112
#define OS_MEM_NO_FREE_BLKS 113
#define OS_MEM_FULL 114
#define OS_MEM_INVALID_PBLK 115
#define OS_MEM_INVALID_PMEM 116
#define OS_MEM_INVALID_PDATA 117
#define OS_MEM_INVALID_ADDR 118

#define OS_ERR_NOT_MUTEX_OWNER 120

#define OS_TASK_OPT_ERR 130

#define OS_ERR_DEL_ISR 140
#define OS_ERR_CREATE_ISR 141

#define OS_FLAG_INVALID_PGRP 150
#define OS_FLAG_ERR_WAIT_TYPE 151
#define OS_FLAG_ERR_NOT_RDY 152
#define OS_FLAG_INVALID_OPT 153
#define OS_FLAG_GRP_DEPLETED 154

/*$PAGE*/
/*
*********************************************************************************************************
*                                          EVENT CONTROL BLOCK
*********************************************************************************************************
*/

#if (OS_EVENT_EN > 0) && (OS_MAX_EVENTS > 0)
typedef struct
{
    INT8U OSEventType;                   /* Type of event control block (see OS_EVENT_TYPE_???)      */
    INT8U OSEventGrp;                    /* Group corresponding to tasks waiting for event to occur  */
    INT16U OSEventCnt;                   /* Semaphore Count (not used if other EVENT type)           */
    void *OSEventPtr;                    /* Pointer to message or queue structure                    */
    INT8U OSEventTbl[OS_EVENT_TBL_SIZE]; /* List of tasks waiting for event to occur                 */
} OS_EVENT;
#endif

/*
*********************************************************************************************************
*                                       EVENT FLAGS CONTROL BLOCK
*********************************************************************************************************
*/

#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
typedef struct
{                         /* Event Flag Group                                        */
    INT8U OSFlagType;     /* Should be set to OS_EVENT_TYPE_FLAG                     */
    void *OSFlagWaitList; /* Pointer to first NODE of task waiting on event flag     */
    OS_FLAGS OSFlagFlags; /* 8, 16 or 32 bit flags                                   */
} OS_FLAG_GRP;

typedef struct
{                             /* Event Flag Wait List Node                               */
    void *OSFlagNodeNext;     /* Pointer to next     NODE in wait list                   */
    void *OSFlagNodePrev;     /* Pointer to previous NODE in wait list                   */
    void *OSFlagNodeTCB;      /* Pointer to TCB of waiting task                          */
    void *OSFlagNodeFlagGrp;  /* Pointer to Event Flag Group                             */
    OS_FLAGS OSFlagNodeFlags; /* Event flag to wait on                                   */
    INT8U OSFlagNodeWaitType; /* Type of wait:                                           */
                              /*      OS_FLAG_WAIT_AND                                   */
                              /*      OS_FLAG_WAIT_ALL                                   */
                              /*      OS_FLAG_WAIT_OR                                    */
                              /*      OS_FLAG_WAIT_ANY                                   */
} OS_FLAG_NODE;
#endif

/*
*********************************************************************************************************
*                                          MESSAGE MAILBOX DATA
*********************************************************************************************************
*/

#if OS_MBOX_EN > 0
typedef struct
{
    void *OSMsg;                         /* Pointer to message in mailbox                            */
    INT8U OSEventTbl[OS_EVENT_TBL_SIZE]; /* List of tasks waiting for event to occur                 */
    INT8U OSEventGrp;                    /* Group corresponding to tasks waiting for event to occur  */
} OS_MBOX_DATA;
#endif

/*
*********************************************************************************************************
*                                     MEMORY PARTITION DATA STRUCTURES
*********************************************************************************************************
*/

#if (OS_MEM_EN > 0) && (OS_MAX_MEM_PART > 0)
typedef struct
{                        /* MEMORY CONTROL BLOCK                                         */
    void *OSMemAddr;     /* Pointer to beginning of memory partition                     */
    void *OSMemFreeList; /* Pointer to list of free memory blocks                        */
    INT32U OSMemBlkSize; /* Size (in bytes) of each block of memory                      */
    INT32U OSMemNBlks;   /* Total number of blocks in this partition                     */
    INT32U OSMemNFree;   /* Number of memory blocks remaining in this partition          */
} OS_MEM;

typedef struct
{
    void *OSAddr;     /* Pointer to the beginning address of the memory partition     */
    void *OSFreeList; /* Pointer to the beginning of the free list of memory blocks   */
    INT32U OSBlkSize; /* Size (in bytes) of each memory block                         */
    INT32U OSNBlks;   /* Total number of blocks in the partition                      */
    INT32U OSNFree;   /* Number of memory blocks free                                 */
    INT32U OSNUsed;   /* Number of memory blocks used                                 */
} OS_MEM_DATA;
#endif

/*$PAGE*/
/*
*********************************************************************************************************
*                                    MUTUAL EXCLUSION SEMAPHORE DATA
*********************************************************************************************************
*/

#if OS_MUTEX_EN > 0
typedef struct
{
    INT8U OSEventTbl[OS_EVENT_TBL_SIZE]; /* List of tasks waiting for event to occur                */
    INT8U OSEventGrp;                    /* Group corresponding to tasks waiting for event to occur */
    INT8U OSValue;                       /* Mutex value (0 = used, 1 = available)                   */
    INT8U OSOwnerPrio;                   /* Mutex owner's task priority or 0xFF if no owner         */
    INT8U OSMutexPIP;                    /* Priority Inheritance Priority or 0xFF if no owner       */
} OS_MUTEX_DATA;
#endif

/*
*********************************************************************************************************
*                                          MESSAGE QUEUE DATA
*********************************************************************************************************
*/

#if OS_Q_EN > 0
typedef struct os_q
{                        /* QUEUE CONTROL BLOCK                                         */
    struct os_q *OSQPtr; /* Link to next queue control block in list of free blocks     */
    void **OSQStart;     /* Pointer to start of queue data                              */
    void **OSQEnd;       /* Pointer to end   of queue data                              */
    void **OSQIn;        /* Pointer to where next message will be inserted  in   the Q  */
    void **OSQOut;       /* Pointer to where next message will be extracted from the Q  */
    INT16U OSQSize;      /* Size of queue (maximum number of entries)                   */
    INT16U OSQEntries;   /* Current number of entries in the queue                      */
} OS_Q;

typedef struct
{
    void *OSMsg;                         /* Pointer to next message to be extracted from queue          */
    INT16U OSNMsgs;                      /* Number of messages in message queue                         */
    INT16U OSQSize;                      /* Size of message queue                                       */
    INT8U OSEventTbl[OS_EVENT_TBL_SIZE]; /* List of tasks waiting for event to occur         */
    INT8U OSEventGrp;                    /* Group corresponding to tasks waiting for event to occur     */
} OS_Q_DATA;
#endif

/*
*********************************************************************************************************
*                                           SEMAPHORE DATA
*********************************************************************************************************
*/

#if OS_SEM_EN > 0
typedef struct
{
    INT16U OSCnt;                        /* Semaphore count                                         */
    INT8U OSEventTbl[OS_EVENT_TBL_SIZE]; /* List of tasks waiting for event to occur                */
    INT8U OSEventGrp;                    /* Group corresponding to tasks waiting for event to occur */
} OS_SEM_DATA;
#endif

/*
*********************************************************************************************************
*                                            TASK STACK DATA
*********************************************************************************************************
*/

#if OS_TASK_CREATE_EXT_EN > 0
typedef struct
{
    INT32U OSFree; /* Number of free bytes on the stack                            */
    INT32U OSUsed; /* Number of bytes used on the stack                            */
} OS_STK_DATA;
#endif

/*$PAGE*/
/*
*********************************************************************************************************
*                                          TASK CONTROL BLOCK
*********************************************************************************************************
*/

typedef struct os_tcb
{
    OS_STK *OSTCBStkPtr; /* Pointer to current top of stack                              */

#if OS_TASK_CREATE_EXT_EN > 0
    void *OSTCBExtPtr;      /* Pointer to user definable data for TCB extension             */
    OS_STK *OSTCBStkBottom; /* Pointer to bottom of stack                                   */
    INT32U OSTCBStkSize;    /* Size of task stack (in number of stack elements)             */
    INT16U OSTCBOpt;        /* Task options as passed by OSTaskCreateExt()                  */
    INT16U OSTCBId;         /* Task ID (0..65535)                                           */
#endif

    struct os_tcb *OSTCBNext; /* Pointer to next     TCB in the TCB list                      */
    struct os_tcb *OSTCBPrev; /* Pointer to previous TCB in the TCB list                      */

#if ((OS_Q_EN > 0) && (OS_MAX_QS > 0)) || (OS_MBOX_EN > 0) || (OS_SEM_EN > 0) || (OS_MUTEX_EN > 0)
    OS_EVENT *OSTCBEventPtr; /* Pointer to event control block                               */
#endif

#if ((OS_Q_EN > 0) && (OS_MAX_QS > 0)) || (OS_MBOX_EN > 0)
    void *OSTCBMsg; /* Message received from OSMboxPost() or OSQPost()              */
#endif

#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
#if OS_TASK_DEL_EN > 0
    OS_FLAG_NODE *OSTCBFlagNode; /* Pointer to event flag node                                   */
#endif
    OS_FLAGS OSTCBFlagsRdy; /* Event flags that made task ready to run                      */
#endif

    INT16U OSTCBDly; /* Nbr ticks to delay task or, timeout waiting for event        */
    INT8U OSTCBStat; /* Task status                                                  */
    INT8U OSTCBPrio; /* Task priority (0 == highest, 63 == lowest)                   */

    INT8U OSTCBX;    /* Bit position in group  corresponding to task priority (0..7) */
    INT8U OSTCBY;    /* Index into ready table corresponding to task priority        */
    INT8U OSTCBBitX; /* Bit mask to access bit position in ready table               */
    INT8U OSTCBBitY; /* Bit mask to access bit position in ready group               */

#if OS_TASK_DEL_EN > 0
    BOOLEAN OSTCBDelReq; /* Indicates whether a task needs to delete itself              */
#endif
} OS_TCB;

/*$PAGE*/
/*
*********************************************************************************************************
*                                            GLOBAL VARIABLES
*********************************************************************************************************
*/

OS_EXT INT32U OSCtxSwCtr; /* Counter of number of context switches           */

#if (OS_EVENT_EN > 0) && (OS_MAX_EVENTS > 0)
OS_EXT OS_EVENT *OSEventFreeList;          /* Pointer to list of free EVENT control blocks    */
OS_EXT OS_EVENT OSEventTbl[OS_MAX_EVENTS]; /* Table of EVENT control blocks                   */
#endif

#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
OS_EXT OS_FLAG_GRP OSFlagTbl[OS_MAX_FLAGS]; /* Table containing event flag groups              */
OS_EXT OS_FLAG_GRP *OSFlagFreeList;         /* Pointer to free list of event flag groups       */
#endif

#if OS_TASK_STAT_EN > 0
OS_EXT INT8S OSCPUUsage;                            /* Percentage of CPU used                          */
OS_EXT INT32U OSIdleCtrMax;                         /* Max. value that idle ctr can take in 1 sec.     */
OS_EXT INT32U OSIdleCtrRun;                         /* Val. reached by idle ctr at run time in 1 sec.  */
OS_EXT BOOLEAN OSStatRdy;                           /* Flag indicating that the statistic task is rdy  */
OS_EXT OS_STK OSTaskStatStk[OS_TASK_STAT_STK_SIZE]; /* Statistics task stack          */
#endif

OS_EXT INT8U OSIntNesting; /* Interrupt nesting level                         */
OS_EXT INT8U OSIntExitY;

OS_EXT INT8U OSLockNesting; /* Multitasking lock nesting level                 */

OS_EXT INT8U OSPrioCur;     /* Priority of current task                        */
OS_EXT INT8U OSPrioHighRdy; /* Priority of highest priority task               */

OS_EXT INT8U OSRdyGrp;                  /* Ready list group                         */
OS_EXT INT8U OSRdyTbl[OS_RDY_TBL_SIZE]; /* Table of tasks which are ready to run    */

OS_EXT BOOLEAN OSRunning; /* Flag indicating that kernel is running   */

OS_EXT INT8U OSTaskCtr; /* Number of tasks created                  */

OS_EXT volatile INT32U OSIdleCtr; /* Idle counter                   */

OS_EXT OS_STK OSTaskIdleStk[OS_TASK_IDLE_STK_SIZE]; /* Idle task stack                */

OS_EXT OS_TCB *OSTCBCur;                               /* Pointer to currently running TCB         */
OS_EXT OS_TCB *OSTCBFreeList;                          /* Pointer to list of free TCBs             */
OS_EXT OS_TCB *OSTCBHighRdy;                           /* Pointer to highest priority TCB R-to-R   */
OS_EXT OS_TCB *OSTCBList;                              /* Pointer to doubly linked list of TCBs    */
OS_EXT OS_TCB *OSTCBPrioTbl[OS_LOWEST_PRIO + 1];       /* Table of pointers to created TCBs        */
OS_EXT OS_TCB OSTCBTbl[OS_MAX_TASKS + OS_N_SYS_TASKS]; /* Table of TCBs                  */

#if (OS_MEM_EN > 0) && (OS_MAX_MEM_PART > 0)
OS_EXT OS_MEM *OSMemFreeList;            /* Pointer to free list of memory partitions       */
OS_EXT OS_MEM OSMemTbl[OS_MAX_MEM_PART]; /* Storage for memory partition manager            */
#endif

#if (OS_Q_EN > 0) && (OS_MAX_QS > 0)
OS_EXT OS_Q *OSQFreeList;      /* Pointer to list of free QUEUE control blocks    */
OS_EXT OS_Q OSQTbl[OS_MAX_QS]; /* Table of QUEUE control blocks                   */
#endif

#if OS_TIME_GET_SET_EN > 0
OS_EXT volatile INT32U OSTime; /* Current value of system time (in ticks)         */
#endif

extern INT8U const OSMapTbl[];   /* Priority->Bit Mask lookup table                 */
extern INT8U const OSUnMapTbl[]; /* Priority->Index    lookup table                 */

/*$PAGE*/
/*
*********************************************************************************************************
*                                          FUNCTION PROTOTYPES
*                                     (Target Independent Functions)
*********************************************************************************************************
*/

/*
*********************************************************************************************************
*                                         EVENT FLAGS MANAGEMENT
*********************************************************************************************************
*/

#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)

#if OS_FLAG_ACCEPT_EN > 0
OS_FLAGS OSFlagAccept(OS_FLAG_GRP *pgrp, OS_FLAGS flags, INT8U wait_type, INT8U *err);
#endif

OS_FLAG_GRP *OSFlagCreate(OS_FLAGS flags, INT8U *err);

#if OS_FLAG_DEL_EN > 0
OS_FLAG_GRP *OSFlagDel(OS_FLAG_GRP *pgrp, INT8U opt, INT8U *err);
#endif

OS_FLAGS OSFlagPend(OS_FLAG_GRP *pgrp, OS_FLAGS flags, INT8U wait_type, INT16U timeout, INT8U *err);
OS_FLAGS OSFlagPost(OS_FLAG_GRP *pgrp, OS_FLAGS flags, INT8U operation, INT8U *err);

#if OS_FLAG_QUERY_EN > 0
OS_FLAGS OSFlagQuery(OS_FLAG_GRP *pgrp, INT8U *err);
#endif
#endif

/*
*********************************************************************************************************
*                                        MESSAGE MAILBOX MANAGEMENT
*********************************************************************************************************
*/

#if OS_MBOX_EN > 0

#if OS_MBOX_ACCEPT_EN > 0
void *OSMboxAccept(OS_EVENT *pevent);
#endif

OS_EVENT *OSMboxCreate(void *msg);

#if OS_MBOX_DEL_EN > 0
OS_EVENT *OSMboxDel(OS_EVENT *pevent, INT8U opt, INT8U *err);
#endif

void *OSMboxPend(OS_EVENT *pevent, INT16U timeout, INT8U *err);

#if OS_MBOX_POST_EN > 0
INT8U OSMboxPost(OS_EVENT *pevent, void *msg);
#endif

#if OS_MBOX_POST_OPT_EN > 0
INT8U OSMboxPostOpt(OS_EVENT *pevent, void *msg, INT8U opt);
#endif

#if OS_MBOX_QUERY_EN > 0
INT8U OSMboxQuery(OS_EVENT *pevent, OS_MBOX_DATA *pdata);
#endif
#endif

/*
*********************************************************************************************************
*                                           MEMORY MANAGEMENT
*********************************************************************************************************
*/

#if (OS_MEM_EN > 0) && (OS_MAX_MEM_PART > 0)

OS_MEM *OSMemCreate(void *addr, INT32U nblks, INT32U blksize, INT8U *err);
void *OSMemGet(OS_MEM *pmem, INT8U *err);
INT8U OSMemPut(OS_MEM *pmem, void *pblk);

#if OS_MEM_QUERY_EN > 0
INT8U OSMemQuery(OS_MEM *pmem, OS_MEM_DATA *pdata);
#endif

#endif

/*
*********************************************************************************************************
*                                MUTUAL EXCLUSION SEMAPHORE MANAGEMENT
*********************************************************************************************************
*/

#if OS_MUTEX_EN > 0

#if OS_MUTEX_ACCEPT_EN > 0
INT8U OSMutexAccept(OS_EVENT *pevent, INT8U *err);
#endif

OS_EVENT *OSMutexCreate(INT8U prio, INT8U *err);

#if OS_MUTEX_DEL_EN > 0
OS_EVENT *OSMutexDel(OS_EVENT *pevent, INT8U opt, INT8U *err);
#endif

void OSMutexPend(OS_EVENT *pevent, INT16U timeout, INT8U *err);
INT8U OSMutexPost(OS_EVENT *pevent);

#if OS_MUTEX_QUERY_EN > 0
INT8U OSMutexQuery(OS_EVENT *pevent, OS_MUTEX_DATA *pdata);
#endif

#endif

/*$PAGE*/
/*
*********************************************************************************************************
*                                         MESSAGE QUEUE MANAGEMENT
*********************************************************************************************************
*/

#if (OS_Q_EN > 0) && (OS_MAX_QS > 0)

#if OS_Q_ACCEPT_EN > 0
void *OSQAccept(OS_EVENT *pevent);
#endif

OS_EVENT *OSQCreate(void **start, INT16U size);

#if OS_Q_DEL_EN > 0
OS_EVENT *OSQDel(OS_EVENT *pevent, INT8U opt, INT8U *err);
#endif

#if OS_Q_FLUSH_EN > 0
INT8U OSQFlush(OS_EVENT *pevent);
#endif

void *OSQPend(OS_EVENT *pevent, INT16U timeout, INT8U *err);

#if OS_Q_POST_EN > 0
INT8U OSQPost(OS_EVENT *pevent, void *msg);
#endif

#if OS_Q_POST_FRONT_EN > 0
INT8U OSQPostFront(OS_EVENT *pevent, void *msg);
#endif

#if OS_Q_POST_OPT_EN > 0
INT8U OSQPostOpt(OS_EVENT *pevent, void *msg, INT8U opt);
#endif

#if OS_Q_QUERY_EN > 0
INT8U OSQQuery(OS_EVENT *pevent, OS_Q_DATA *pdata);
#endif

#endif

/*$PAGE*/
/*
*********************************************************************************************************
*                                          SEMAPHORE MANAGEMENT
*********************************************************************************************************
*/
#if OS_SEM_EN > 0

#if OS_SEM_ACCEPT_EN > 0
INT16U OSSemAccept(OS_EVENT *pevent);
#endif

OS_EVENT *OSSemCreate(INT16U cnt);

#if OS_SEM_DEL_EN > 0
OS_EVENT *OSSemDel(OS_EVENT *pevent, INT8U opt, INT8U *err);
#endif

void OSSemPend(OS_EVENT *pevent, INT16U timeout, INT8U *err);
INT8U OSSemPost(OS_EVENT *pevent);

#if OS_SEM_QUERY_EN > 0
INT8U OSSemQuery(OS_EVENT *pevent, OS_SEM_DATA *pdata);
#endif

#endif

/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK MANAGEMENT
*********************************************************************************************************
*/
#if OS_TASK_CHANGE_PRIO_EN > 0
INT8U OSTaskChangePrio(INT8U oldprio, INT8U newprio);
#endif

#if OS_TASK_CREATE_EN > 0
INT8U OSTaskCreate(void (*task)(void *pd), void *pdata, OS_STK *ptos, INT8U prio);
#endif

#if OS_TASK_CREATE_EXT_EN > 0
INT8U OSTaskCreateExt(void (*task)(void *pd),
                      void *pdata,
                      OS_STK *ptos,
                      INT8U prio,
                      INT16U id,
                      OS_STK *pbos,
                      INT32U stk_size,
                      void *pext,
                      INT16U opt);
#endif

#if OS_TASK_DEL_EN > 0
INT8U OSTaskDel(INT8U prio);
INT8U OSTaskDelReq(INT8U prio);
#endif

#if OS_TASK_SUSPEND_EN > 0
INT8U OSTaskResume(INT8U prio);
INT8U OSTaskSuspend(INT8U prio);
#endif

#if OS_TASK_CREATE_EXT_EN > 0
INT8U OSTaskStkChk(INT8U prio, OS_STK_DATA *pdata);
#endif

#if OS_TASK_QUERY_EN > 0
INT8U OSTaskQuery(INT8U prio, OS_TCB *pdata);
#endif

/*$PAGE*/
/*
*********************************************************************************************************
*                                            TIME MANAGEMENT
*********************************************************************************************************
*/

void OSTimeDly(INT16U ticks);

#if OS_TIME_DLY_HMSM_EN > 0
INT8U OSTimeDlyHMSM(INT8U hours, INT8U minutes, INT8U seconds, INT16U milli);
#endif

#if OS_TIME_DLY_RESUME_EN > 0
INT8U OSTimeDlyResume(INT8U prio);
#endif

#if OS_TIME_GET_SET_EN > 0
INT32U OSTimeGet(void);
void OSTimeSet(INT32U ticks);
#endif

void OSTimeTick(void);

/*
*********************************************************************************************************
*                                             MISCELLANEOUS
*********************************************************************************************************
*/

void OSInit(void);

void OSIntEnter(void);
void OSIntExit(void);

#if OS_SCHED_LOCK_EN > 0
void OSSchedLock(void);
void OSSchedUnlock(void);
#endif

void OSStart(void);

void OSStatInit(void);

INT16U OSVersion(void);

/*$PAGE*/
/*
*********************************************************************************************************
*                                      INTERNAL FUNCTION PROTOTYPES
*                            (Your application MUST NOT call these functions)
*********************************************************************************************************
*/

#if OS_TASK_DEL_EN > 0
void OS_Dummy(void);
#endif

#if ((OS_Q_EN > 0) && (OS_MAX_QS > 0)) || (OS_MBOX_EN > 0) || (OS_SEM_EN > 0) || (OS_MUTEX_EN > 0)
INT8U OS_EventTaskRdy(OS_EVENT *pevent, void *msg, INT8U msk);
void OS_EventTaskWait(OS_EVENT *pevent);
void OS_EventTO(OS_EVENT *pevent);
void OS_EventWaitListInit(OS_EVENT *pevent);
#endif

#if (OS_VERSION >= 251) && (OS_FLAG_EN > 0) && (OS_MAX_FLAGS > 0)
void OS_FlagInit(void);
void OS_FlagUnlink(OS_FLAG_NODE *pnode);
#endif

#if (OS_MEM_EN > 0) && (OS_MAX_MEM_PART > 0)
void OS_MemInit(void);
#endif

#if OS_Q_EN > 0
void OS_QInit(void);
#endif

void OS_Sched(void);

void OS_TaskIdle(void *data);

#if OS_TASK_STAT_EN > 0
void OS_TaskStat(void *data);
#endif

INT8U OS_TCBInit(INT8U prio, OS_STK *ptos, OS_STK *pbos, INT16U id, INT32U stk_size, void *pext, INT16U opt);

/*$PAGE*/
/*
*********************************************************************************************************
*                                          FUNCTION PROTOTYPES
*                                      (Target Specific Functions)
*********************************************************************************************************
*/

#if OS_VERSION >= 204
void OSInitHookBegin(void);
void OSInitHookEnd(void);
#endif

void OSIntCtxSw(void);

void OSStartHighRdy(void);

void OSTaskCreateHook(OS_TCB *ptcb);
void OSTaskDelHook(OS_TCB *ptcb);

#if OS_VERSION >= 251
void OSTaskIdleHook(void);
#endif

void OSTaskStatHook(void);
OS_STK *OSTaskStkInit(void (*task)(void *pd), void *pdata, OS_STK *ptos, INT16U opt);
void OSTaskSwHook(void);

#if OS_VERSION >= 204
void OSTCBInitHook(OS_TCB *ptcb);
#endif

void OSTimeTickHook(void);

/*
*********************************************************************************************************
*                                          FUNCTION PROTOTYPES
*                                  (Compiler Specific ISR prototypes)
*********************************************************************************************************
*/

#ifndef OS_ISR_PROTO_EXT
void OSCtxSw(void);
void OSTickISR(void);
#endif

/*$PAGE*/
/*
*********************************************************************************************************
*                                   LOOK FOR MISSING #define CONSTANTS
*
* This section is used to generate ERROR messages at compile time if certain #define constants are 
* MISSING in OS_CFG.H.  This allows you to quickly determine the source of the error.
*
* You SHOULD NOT change this section UNLESS you would like to add more comments as to the source of the
* compile time error.
*********************************************************************************************************
*/

/*
*********************************************************************************************************
*                                            EVENT FLAGS
*********************************************************************************************************
*/

#ifndef OS_FLAG_EN
#error "OS_CFG.H, Missing OS_FLAG_EN: Enable (1) or Disable (0) code generation for Event Flags"
#else
#ifndef OS_MAX_FLAGS
#error "OS_CFG.H, Missing OS_MAX_FLAGS: Max. number of Event Flag Groups in your application"
#else
#if OS_MAX_FLAGS == 0
#error "OS_CFG.H, OS_MAX_FLAGS must be > 0"
#endif
#if OS_MAX_FLAGS > 255
#error "OS_CFG.H, OS_MAX_FLAGS must be <= 255"
#endif
#endif

#ifndef OS_FLAG_WAIT_CLR_EN
#error "OS_CFG.H, Missing OS_FLAG_WAIT_CLR_EN: Include code for Wait on Clear EVENT FLAGS"
#endif

#ifndef OS_FLAG_ACCEPT_EN
#error "OS_CFG.H, Missing OS_FLAG_ACCEPT_EN: Include code for OSFlagAccept()"
#endif

#ifndef OS_FLAG_DEL_EN
#error "OS_CFG.H, Missing OS_FLAG_DEL_EN: Include code for OSFlagDel()"
#endif

#ifndef OS_FLAG_QUERY_EN
#error "OS_CFG.H, Missing OS_FLAG_QUERY_EN: Include code for OSFlagQuery()"
#endif
#endif

/*
*********************************************************************************************************
*                                           MESSAGE MAILBOXES
*********************************************************************************************************
*/

#ifndef OS_MBOX_EN
#error "OS_CFG.H, Missing OS_MBOX_EN: Enable (1) or Disable (0) code generation for MAILBOXES"
#else
#ifndef OS_MBOX_ACCEPT_EN
#error "OS_CFG.H, Missing OS_MBOX_ACCEPT_EN: Include code for OSMboxAccept()"
#endif

#ifndef OS_MBOX_DEL_EN
#error "OS_CFG.H, Missing OS_MBOX_DEL_EN: Include code for OSMboxDel()"
#endif

#ifndef OS_MBOX_POST_EN
#error "OS_CFG.H, Missing OS_MBOX_POST_EN: Include code for OSMboxPost()"
#endif

#ifndef OS_MBOX_POST_OPT_EN
#error "OS_CFG.H, Missing OS_MBOX_POST_OPT_EN: Include code for OSMboxPostOpt()"
#endif

#ifndef OS_MBOX_QUERY_EN
#error "OS_CFG.H, Missing OS_MBOX_QUERY_EN: Include code for OSMboxQuery()"
#endif
#endif

/*
*********************************************************************************************************
*                                           MEMORY MANAGEMENT
*********************************************************************************************************
*/

#ifndef OS_MEM_EN
#error "OS_CFG.H, Missing OS_MEM_EN: Enable (1) or Disable (0) code generation for MEMORY MANAGER"
#else
#ifndef OS_MAX_MEM_PART
#error "OS_CFG.H, Missing OS_MAX_MEM_PART: Max. number of memory partitions"
#else
#if OS_MAX_MEM_PART == 0
#error "OS_CFG.H, OS_MAX_MEM_PART must be > 0"
#endif
#if OS_MAX_MEM_PART > 255
#error "OS_CFG.H, OS_MAX_MEM_PART must be <= 255"
#endif
#endif

#ifndef OS_MEM_QUERY_EN
#error "OS_CFG.H, Missing OS_MEM_QUERY_EN: Include code for OSMemQuery()"
#endif
#endif

/*
*********************************************************************************************************
*                                       MUTUAL EXCLUSION SEMAPHORES
*********************************************************************************************************
*/

#ifndef OS_MUTEX_EN
#error "OS_CFG.H, Missing OS_MUTEX_EN: Enable (1) or Disable (0) code generation for MUTEX"
#else
#ifndef OS_MUTEX_ACCEPT_EN
#error "OS_CFG.H, Missing OS_MUTEX_ACCEPT_EN: Include code for OSMutexAccept()"
#endif

#ifndef OS_MUTEX_DEL_EN
#error "OS_CFG.H, Missing OS_MUTEX_DEL_EN: Include code for OSMutexDel()"
#endif

#ifndef OS_MUTEX_QUERY_EN
#error "OS_CFG.H, Missing OS_MUTEX_QUERY_EN: Include code for OSMutexQuery()"
#endif
#endif

/*
*********************************************************************************************************
*                                              MESSAGE QUEUES
*********************************************************************************************************
*/

#ifndef OS_Q_EN
#error "OS_CFG.H, Missing OS_Q_EN: Enable (1) or Disable (0) code generation for QUEUES"
#else
#ifndef OS_MAX_QS
#error "OS_CFG.H, Missing OS_MAX_QS: Max. number of queue control blocks"
#else
#if OS_MAX_QS == 0
#error "OS_CFG.H, OS_MAX_QS must be > 0"
#endif
#if OS_MAX_QS > 255
#error "OS_CFG.H, OS_MAX_QS must be <= 255"
#endif
#endif

#ifndef OS_Q_ACCEPT_EN
#error "OS_CFG.H, Missing OS_Q_ACCEPT_EN: Include code for OSQAccept()"
#endif

#ifndef OS_Q_DEL_EN
#error "OS_CFG.H, Missing OS_Q_DEL_EN: Include code for OSQDel()"
#endif

#ifndef OS_Q_FLUSH_EN
#error "OS_CFG.H, Missing OS_Q_FLUSH_EN: Include code for OSQFlush()"
#endif

#ifndef OS_Q_POST_EN
#error "OS_CFG.H, Missing OS_Q_POST_EN: Include code for OSQPost()"
#endif

#ifndef OS_Q_POST_FRONT_EN
#error "OS_CFG.H, Missing OS_Q_POST_FRONT_EN: Include code for OSQPostFront()"
#endif

#ifndef OS_Q_POST_OPT_EN
#error "OS_CFG.H, Missing OS_Q_POST_OPT_EN: Include code for OSQPostOpt()"
#endif

#ifndef OS_Q_QUERY_EN
#error "OS_CFG.H, Missing OS_Q_QUERY_EN: Include code for OSQQuery()"
#endif
#endif

/*
*********************************************************************************************************
*                                              SEMAPHORES
*********************************************************************************************************
*/

#ifndef OS_SEM_EN
#error "OS_CFG.H, Missing OS_SEM_EN: Enable (1) or Disable (0) code generation for SEMAPHORES"
#else
#ifndef OS_SEM_ACCEPT_EN
#error "OS_CFG.H, Missing OS_SEM_ACCEPT_EN: Include code for OSSemAccept()"
#endif

#ifndef OS_SEM_DEL_EN
#error "OS_CFG.H, Missing OS_SEM_DEL_EN: Include code for OSSemDel()"
#endif

#ifndef OS_SEM_QUERY_EN
#error "OS_CFG.H, Missing OS_SEM_QUERY_EN: Include code for OSSemQuery()"
#endif
#endif

/*
*********************************************************************************************************
*                                             TASK MANAGEMENT
*********************************************************************************************************
*/

#ifndef OS_MAX_TASKS
#error "OS_CFG.H, Missing OS_MAX_TASKS: Max. number of tasks in your application"
#else
#if OS_MAX_TASKS == 0
#error "OS_CFG.H,         OS_MAX_TASKS must be >= 2"
#endif
#if OS_MAX_TASKS > 63
#error "OS_CFG.H,         OS_MAX_TASKS must be <= 63"
#endif
#endif

#ifndef OS_TASK_IDLE_STK_SIZE
#error "OS_CFG.H, Missing OS_TASK_IDLE_STK_SIZE: Idle task stack size"
#endif

#ifndef OS_TASK_STAT_EN
#error "OS_CFG.H, Missing OS_TASK_STAT_EN: Enable (1) or Disable(0) the statistics task"
#endif

#ifndef OS_TASK_STAT_STK_SIZE
#error "OS_CFG.H, Missing OS_TASK_STAT_STK_SIZE: Statistics task stack size"
#endif

#ifndef OS_TASK_CHANGE_PRIO_EN
#error "OS_CFG.H, Missing OS_TASK_CHANGE_PRIO_EN: Include code for OSTaskChangePrio()"
#endif

#ifndef OS_TASK_CREATE_EN
#error "OS_CFG.H, Missing OS_TASK_CREATE_EN: Include code for OSTaskCreate()"
#endif

#ifndef OS_TASK_CREATE_EXT_EN
#error "OS_CFG.H, Missing OS_TASK_CREATE_EXT_EN: Include code for OSTaskCreateExt()"
#endif

#ifndef OS_TASK_DEL_EN
#error "OS_CFG.H, Missing OS_TASK_DEL_EN: Include code for OSTaskDel()"
#endif

#ifndef OS_TASK_SUSPEND_EN
#error "OS_CFG.H, Missing OS_TASK_SUSPEND_EN: Include code for OSTaskSuspend() and OSTaskResume()"
#endif

#ifndef OS_TASK_QUERY_EN
#error "OS_CFG.H, Missing OS_TASK_QUERY_EN: Include code for OSTaskQuery()"
#endif

/*
*********************************************************************************************************
*                                             TIME MANAGEMENT
*********************************************************************************************************
*/

#ifndef OS_TICKS_PER_SEC
#error "OS_CFG.H, Missing OS_TICKS_PER_SEC: Sets the number of ticks in one second"
#endif

#ifndef OS_TIME_DLY_HMSM_EN
#error "OS_CFG.H, Missing OS_TIME_DLY_HMSM_EN: Include code for OSTimeDlyHMSM()"
#endif

#ifndef OS_TIME_DLY_RESUME_EN
#error "OS_CFG.H, Missing OS_TIME_DLY_RESUME_EN: Include code for OSTimeDlyResume()"
#endif

#ifndef OS_TIME_GET_SET_EN
#error "OS_CFG.H, Missing OS_TIME_GET_SET_EN: Include code for OSTimeGet() and OSTimeSet()"
#endif

/*
*********************************************************************************************************
*                                            MISCELLANEOUS
*********************************************************************************************************
*/

#ifndef OS_MAX_EVENTS
#error "OS_CFG.H, Missing OS_MAX_EVENTS: Max. number of event control blocks in your application"
#else
#if OS_MAX_EVENTS == 0
#error "OS_CFG.H, OS_MAX_EVENTS must be > 0"
#endif
#if OS_MAX_EVENTS > 255
#error "OS_CFG.H, OS_MAX_EVENTS must be <= 255"
#endif
#endif

#ifndef OS_LOWEST_PRIO
#error "OS_CFG.H, Missing OS_LOWEST_PRIO: Defines the lowest priority that can be assigned"
#endif

#ifndef OS_ARG_CHK_EN
#error "OS_CFG.H, Missing OS_ARG_CHK_EN: Enable (1) or Disable (0) argument checking"
#endif

#ifndef OS_CPU_HOOKS_EN
#error "OS_CFG.H, Missing OS_CPU_HOOKS_EN: uC/OS-II hooks are found in the processor port files when 1"
#endif

#ifndef OS_SCHED_LOCK_EN
#error "OS_CFG.H, Missing OS_SCHED_LOCK_EN: Include code for OSSchedLock() and OSSchedUnlock()"
#endif
